Swimming eel-like robot : Sensing and Control improvement
Tutor / director / evaluatorVan Wunnik, Lucas Philippe; Ronsse, Renaud; Bernier, Caroline; Hendrickx, Julien
CovenanteeÉcole polytechnique de Louvain
Document typeMaster thesis
Rights accessOpen Access
The master thesis ”Swimming eel-like robot : Sensing and Control improvement” continues a project launched in 2017 with the objective to perform experimental tests with an eel-like robot and record experimental data in order to criticise simulations realised in the framework of a doctorate at the ”Université Catholique de Louvain”. This thesis focus on improving the control strategy applied to control the swimming movements of the robot in order to bring the ability of swimming following straight paths without deviating. Mainly, the control strategy is improved by simplifying the expression used to compute the control actions to be applied by the joint actuators of the robot and improving the sensing capabilities of the robotic system, obtaining more accurate and reliable measurements by means of adding sensors and reconciling the measurements using a cinematic model. Additionally, a model of the robotic system is derived in an analytical closed form, which makes it useful for implementing model-based controllers. Also it is derived an approach to online estimate hydrodynamic parameters in order to fit better the model derived to the different situations it can be used. Finally and due to the impossibility of performing experimental tests, the model derived is also used to perform numerical simulations which lead to verify the control strategy and the model derived.